Author(s)

J.A. Soons

Abstract

This paper describes procedures to measure the geometric errors of parallel kinematic machines with a Gough configuration. The procedures are applied to estimate and compensate the errors of a prototype hexapod milling machine. 1 Introduction Hexapod machine tools provide controlled motion of a spindle platform in six degrees of freedom by a parallel arrangement of six legs, each with one active joint. In this paper we consider hexapods with a Gough configuration: the active joint is a linear actuator that is connected to the base and the platform through universal and spherical joints (Figure 1). These passive joints allow rotational movements such that each leg realizes only one constraint: that of a distance. The parallel arrangement of actuators, and the simplicity of distance as a

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